Collision-avoidance support device
First Claim
1. A collision-avoidance support device comprising:
- a processor configured to;
determine whether an acceleration of a relative velocity of a host vehicle with respect to an object is above a predetermined acceleration threshold;
based on the acceleration of the relative velocity being determined to be below the predetermined acceleration threshold;
(i) calculate a first time to an expected collision between the host vehicle and the object, the first time being calculated by a first method using the relative velocity and a distance between the host vehicle and the object without using the acceleration of the relative velocity, and (ii) based on the first time reaching a predetermined timing threshold, start at least one collision-avoidance support function; and
based on the acceleration of the relative velocity being determined to be above the predetermined acceleration threshold;
(i) calculate a second time to the expected collision between the host vehicle and the object, the second time being calculated by a second method using the distance, the relative velocity and the acceleration of the relative velocity, and (ii) based on the second time reaching the predetermined timing threshold, start the at least one collision-avoidance support function.
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Abstract
In a case where a relative velocity Vr decreases, a timing calculation unit of a collision-avoidance support ECU calculates a time T1 shorter than a time T2, as a time to a collision, using a distance D and the relative velocity Vr without using acceleration Gr. The timing calculation unit calculates a timing of a start of collision-avoidance support on the basis of the time T1. In a case where the relative velocity increases, the timing calculation unit calculates the time T2 shorter than the time T1, as a time to a collision, using the distance D, the relative velocity Vr and the acceleration Gr. The timing calculation unit calculates the timing of a start of collision-avoidance support on the basis of the time T2.
6 Citations
16 Claims
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1. A collision-avoidance support device comprising:
a processor configured to; determine whether an acceleration of a relative velocity of a host vehicle with respect to an object is above a predetermined acceleration threshold; based on the acceleration of the relative velocity being determined to be below the predetermined acceleration threshold;
(i) calculate a first time to an expected collision between the host vehicle and the object, the first time being calculated by a first method using the relative velocity and a distance between the host vehicle and the object without using the acceleration of the relative velocity, and (ii) based on the first time reaching a predetermined timing threshold, start at least one collision-avoidance support function; andbased on the acceleration of the relative velocity being determined to be above the predetermined acceleration threshold;
(i) calculate a second time to the expected collision between the host vehicle and the object, the second time being calculated by a second method using the distance, the relative velocity and the acceleration of the relative velocity, and (ii) based on the second time reaching the predetermined timing threshold, start the at least one collision-avoidance support function.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
Specification